#include "Aria.h"
 /*
  * Action that drives the robot forward, but stops if obstacles are
  * detected by sonar.
  */
 class ActionGo : public ArAction
 {
 public:
   // constructor, sets myMaxSpeed and myStopDistance
   ActionGo(double maxSpeed, double stopDistance);
   // destructor. does not need to do anything
   virtual ~ActionGo(void) {};
   // called by the action resolver to obtain this action's requested behavior
   virtual ArActionDesired *fire(ArActionDesired currentDesired);
   // store the robot pointer, and it's ArSonarDevice object, or deactivate this action if there is no sonar.
   virtual void setRobot(ArRobot *robot);
 protected:
   // the sonar device object obtained from the robot by setRobot()
   ArRangeDevice *mySonar;


   /* Our current desired action: fire() modifies this object and returns
       to the action resolver a pointer to this object.
       This object is kept as a class member so that it persists after fire()
       returns (otherwise fire() would have to create a new object each invocation,
       but would never be able to delete that object).
   */
   ArActionDesired myDesired;

   double myMaxSpeed;
   double myStopDistance;

 };


 /* Action that turns the robot away from obstacles detected by the
  * sonar. */
 class ActionTurn : public ArAction
 {
 public:
   // constructor, sets the turnThreshold, and turnAmount
   ActionTurn(double turnThreshold, double turnAmountIn, double turnAmountOut, double turnHurdle);
   // destructor, its just empty, we don't need to do anything
   virtual ~ActionTurn(void) {};
   // fire, this is what the resolver calls to figure out what this action wants
   virtual ArActionDesired *fire(ArActionDesired currentDesired);
   // sets the robot pointer, also gets the sonar device, or deactivates this action if there is no sonar.
   virtual void setRobot(ArRobot *robot);
 protected:
   // this is to hold the sonar device form the robot
   ArRangeDevice *mySonar;
   // what the action wants to do; used by the action resover after fire()
   ArActionDesired myDesired;
   // distance at which to start turning
   double myTurnThreshold;
   // amount to turn when turning is needed
   double myTurnAmountIn;
   double myTurnAmountOut;
   // remember which turn direction we requested, to help keep turns smooth
   int myTurning; // -1 == left, 1 == right, 0 == none

   double myTurnHurdle;
   int avanti;
   double gradi;
 };

 /*
   Note the use of constructor chaining with
   ArAction(actionName). Also note how it uses setNextArgument, which makes it so that
   other parts of the program could find out what parameters this action has, and possibly modify them.
 */
 ActionGo::ActionGo(double maxSpeed, double stopDistance) :
   ArAction("Go")
 {
   mySonar = NULL;
   myMaxSpeed = maxSpeed;
   myStopDistance = stopDistance;
   setNextArgument(ArArg("maximum speed", &myMaxSpeed, "Maximum speed to go."));
   setNextArgument(ArArg("stop distance", &myStopDistance, "Distance at which to stop."));
 }

 /*
   Override ArAction::setRobot() to get the sonar device from the robot, or deactivate this action if it is missing.
   You must also call ArAction::setRobot() to properly store
   the ArRobot pointer in the ArAction base class.
 */
 void ActionGo::setRobot(ArRobot *robot)
 {
   ArAction::setRobot(robot);
   mySonar = robot->findRangeDevice("sonar");
   if (robot == NULL)
     {
       ArLog::log(ArLog::Terse, "actionExample: ActionGo: Warning: I found no sonar, deactivating.");
       deactivate();
     }
 }

 /*
   This fire is the whole point of the action.
   currentDesired is the combined desired action from other actions
   previously processed by the action resolver.  In this case, we're
   not interested in that, we will set our desired
   for00296ward velocity in the myDesired member, and return it.

   Note that myDesired must be a class member, since this method
   will return a pointer to myDesired to the caller. If we had
   declared the desired action as a local variable in this method,
   the pointer we returned would be invalid after this method
   returned.
 */
 ArActionDesired *ActionGo::fire(ArActionDesired currentDesired)
 {
   double range;
   double speed;

   // reset the actionDesired (must be done), to clear
   // its previous values.
   myDesired.reset();

   // if the sonar is null we can't do anything, so deactivate
   if (mySonar == NULL)
   {
     deactivate();
     return NULL;
   }
   // get the range of the sonar
   range = mySonar->currentReadingPolar(-30, 30) - myRobot->getRobotRadius();
   // if the range is greater than the stop distance, find some speed to go
   if (range > myStopDistance)
   {
     // just an arbitrary speed based on the range
     speed = range * .3;
     // if that speed is greater than our max, cap it
     if (speed > myMaxSpeed)
       speed = myMaxSpeed;
     // now set the velocity
     myDesired.setVel(speed);
   }
   // the range was less than the stop distance, so request stop
   else
   {
     myDesired.setVel(0);
   }
   // return a pointer to the actionDesired to the resolver to make our request
   return &myDesired;
 }


 /*
   This is the ActionTurn constructor, note the use of constructor chaining
   with the ArAction. also note how it uses setNextArgument, which makes
   it so that other things can see what parameters this action has, and
   set them.  It also initializes the classes variables.
 */
 ActionTurn::ActionTurn(double turnThreshold, double turnAmountIn, double turnAmountOut, double turnHurdle) :
   ArAction("Turn")
 {
   myTurnThreshold = turnThreshold;
   myTurnAmountIn = turnAmountIn;
   myTurnAmountOut = turnAmountOut;
   myTurnHurdle = turnHurdle;
   setNextArgument(ArArg("turn threshold (mm)", &myTurnThreshold, "The number of mm away from obstacle to begin turnning."));
   setNextArgument(ArArg("turn amount (deg)", &myTurnAmountIn, "The number of degress to turn if turning."));
   myTurning = 0;
   avanti=0;
   gradi=0;


 }

 /*
   Sets the myRobot pointer (all setRobot overloaded functions must do this),
   finds the sonar device from the robot, and if the sonar isn't there,
   then it deactivates itself.
 */
 void ActionTurn::setRobot(ArRobot *robot)
 {
   ArAction::setRobot(robot);
   mySonar = robot->findRangeDevice("sonar");
   if (mySonar == NULL)
   {
     ArLog::log(ArLog::Terse, "actionExample: ActionTurn: Warning: I found no sonar, deactivating.");
     deactivate();
   }
 }

 /*
   This is the guts of the Turn action.
 */
 ArActionDesired *ActionTurn::fire(ArActionDesired currentDesired)
 {

   double leftRange, rightRange;
   // reset the actionDesired (must be done)
   myDesired.reset();
   // if the sonar is null we can't do anything, so deactivate
   if (mySonar == NULL)
   {
     deactivate();
     return NULL;
   }
   // Get the left readings and right readings off of the sonar
   leftRange = (mySonar->currentReadingPolar(0, 100) -
         myRobot->getRobotRadius());
   rightRange = (mySonar->currentReadingPolar(-100, 0) -
         myRobot->getRobotRadius());
   // if neither left nor right range is within the turn threshold,
   // reset the turning variable and don't turn
   if (leftRange > myTurnThreshold && rightRange > myTurnThreshold)
   {
	   printf("****%f\n",myTurnHurdle);
	   if(avanti==0){
     myTurning = 0;
     myDesired.setDeltaHeading(0);
     printf("avanti\n");
	   }else if((myTurning>0 && gradi>-myTurnHurdle)||(myTurning<0 && gradi<myTurnHurdle)){
		   myDesired.setDeltaHeading(myTurnAmountOut * -myTurning);
		   gradi=gradi + (myTurnAmountOut * -myTurning);
	   }else{
		   gradi=0;
		   avanti=0;
		   printf("ok\n");
	   }


   }
   //if we're already turning some direction, keep turning that direction
   else if (myTurning)
   {
     myDesired.setDeltaHeading(myTurnAmountIn * myTurning);
     gradi=gradi+(myTurnAmountIn * myTurning);
   }
   // if we're not turning already, but need to, and left is closer, turn right
  // and set the turning variable so we turn the same direction for as long as
   // we need to
   else if (leftRange < rightRange)
   {
     myTurning = -1;
     myDesired.setDeltaHeading(myTurnAmountIn * myTurning);
     gradi =gradi+( myTurnAmountIn * myTurning);
     avanti=1;
   }
   // if we're not turning already, but need to, and right is closer, turn left
   // and set the turning variable so we turn the same direction for as long as
   // we need to
   else
   {
     myTurning = 1;
     myDesired.setDeltaHeading(myTurnAmountIn * myTurning);
     gradi =gradi+( myTurnAmountIn * myTurning);
     avanti=1;
   }
   // return a pointer to the actionDesired, so resolver knows what to do
   return &myDesired;
 }


 int main(int argc, char** argv)
 {
   Aria::init();

   ArSimpleConnector conn(&argc, argv);
   ArRobot robot;
   ArSonarDevice sonar;
   bool flag=false;

   // Create instances of the actions defined above, plus ArActionStallRecover,
   // a predefined action from Aria.
   ActionGo go(300, 500);
   ActionTurn turn(500, 10,45,45);
   ArActionStallRecover recover;
  // ArActionAvoidFront avoidFront("avoid front obstacles",500, 10,45,true);
   //	ArActionGoto gogo("goto", ArPose(2300, -175, 0),10,200,10,7);


   // Parse all command-line arguments
   if(!Aria::parseArgs())
  {
     Aria::logOptions();
     return 1;
   }

   // Connect to the robot
   if(!conn.connectRobot(&robot))
   {
     ArLog::log(ArLog::Terse, "actionExample: Could not connect to robot! Exiting.");
     return 2;
   }

   // Add the range device to the robot. You should add all the range
   // devices and such before you add actions
   robot.addRangeDevice(&sonar);

   // Add our actions in order. The second argument is the priority,    // with higher priority actions going first, and possibly pre-empting lower
   // priority actions.
   robot.addAction(&recover, 100);
   //robot.addAction(&gogo, 50);
   robot.addAction(&go, 50);
   robot.addAction(&turn, 49);

   // Enable the motors, disable amigobot sounds
   robot.enableMotors();

   // Run the robot processing cycle.
   // 'true' means to return if it loses connection,
   // after which we exit the program.
   robot.run(true);

   Aria::shutdown();
   return 0;
}
